Experimental validation of Order (n) DISCOS

An order (n) algorithm is developed for use in the industry-standard DISCOS (Dynamics Interaction Simulation of Controls and Structures) program for flexible multibody system dynamics simulation. This version should be more computationally efficient than conventional DISCOS for problems where a large number of bodies are involved. Program-dependent changes to DISCOS are described for reducing the number of bodies required to model gear reduction and nonlinear stiffness as internal effects. The gear reduction modification can be extended to general applications, such as gear box, rack and pinion, lever joint, and screw rotation models. Upgrading DISCOS for future use include the addition of robotics capabilities such as event-driven topology changes, surface sliding, pick-and-place, and multiarm hand-off.